/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RW_MODELS_RIGIDBODYINFO_HPP
#define RW_MODELS_RIGIDBODYINFO_HPP

#if !defined(SWIG)
#include <rw/math/InertiaMatrix.hpp>
#endif 

namespace rw { namespace models {

    /** @addtogroup models */
    /* @{ */

    /**
     * @brief A class to wrap rigid body information.
     */
    class RigidBodyInfo
    {
      public:
        /**
         * @brief constructs a RigidBodyInfo with a mass, inertia matrix, initial
         * pose and velocity.
         */
        RigidBodyInfo (double mass, const rw::math::InertiaMatrix<>& Ibody);

        /**
         * @brief destructor
         */
        virtual ~RigidBodyInfo ();

        /**
         * @brief returns the mass of this RigidBodyInfo
         * @return the mass
         */
        double getMass () { return _mass; };

        /**
         * @brief returns the inertia matrix of this rigid body
         */
        rw::math::InertiaMatrix<> getInertia () { return _Ibody; };

      private:
        /* Constant quantities */
        double _mass;
        rw::math::InertiaMatrix<> _Ibody;
    };

    /* @} */
}}    // namespace rw::models

#endif /*RW_MODELS_RIGIDBODYINFO_HPP*/
